From 3691f123ba0f41c239df233fa932c669435eee05 Mon Sep 17 00:00:00 2001
From: yikestone <rishabh_kundu@rediffmail.com>
Date: Tue, 2 Apr 2019 00:45:44 +0530
Subject: [PATCH] gmapping fixed

---
 gazebo_sim/worlds/playground.world          | 1 +
 launch/gazebo_sim.launch                    | 3 +--
 launch/gazebo_sim/depth_to_laser_sim.launch | 1 -
 launch/gazebo_sim/gmapping_sim.launch       | 3 +--
 4 files changed, 3 insertions(+), 5 deletions(-)

diff --git a/gazebo_sim/worlds/playground.world b/gazebo_sim/worlds/playground.world
index 4b73588..5a5f919 100644
--- a/gazebo_sim/worlds/playground.world
+++ b/gazebo_sim/worlds/playground.world
@@ -1843,6 +1843,7 @@
             <depthImageInfoTopicName>/camera_ir/depth/camera_info</depthImageInfoTopicName>
             <pointCloudTopicName>/qt_pi/camera_ir/depth/points</pointCloudTopicName>
             <frameName>camera_link</frameName>
+            <pointCloudCutoffMax>100</pointCloudCutoffMax>
             <pointCloudCutoff>0.05</pointCloudCutoff>
             <distortionK1>0</distortionK1>
             <distortionK2>0</distortionK2>
diff --git a/launch/gazebo_sim.launch b/launch/gazebo_sim.launch
index b5b59b8..ce22b5d 100644
--- a/launch/gazebo_sim.launch
+++ b/launch/gazebo_sim.launch
@@ -3,9 +3,8 @@
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="world_name" value="$(find qt_pi)/gazebo_sim/worlds/playground.world"/>
   </include>
-
   <include file="$(find qt_pi)/launch/gazebo_sim/static_tf_sim.launch"/>
   <include file="$(find qt_pi)/launch/gazebo_sim/depth_to_laser_sim.launch"/>
-  <!--<include file="$(find qt_pi)/launch/gazebo_sim/gmapping.launch"/>-->
+  <include file="$(find qt_pi)/launch/gazebo_sim/gmapping.launch"/>
 
 </launch>
\ No newline at end of file
diff --git a/launch/gazebo_sim/depth_to_laser_sim.launch b/launch/gazebo_sim/depth_to_laser_sim.launch
index e815096..ac1b042 100644
--- a/launch/gazebo_sim/depth_to_laser_sim.launch
+++ b/launch/gazebo_sim/depth_to_laser_sim.launch
@@ -1,6 +1,5 @@
 <launch>
   <remap from="image" to="qt_pi/camera_ir/depth/image_raw"/>
-
   <node name="depthimage_to_laserscan" pkg="depthimage_to_laserscan" type="depthimage_to_laserscan">
     <param name="scan_height" value="1"/>
     <param name="range_max" value="100"/>
diff --git a/launch/gazebo_sim/gmapping_sim.launch b/launch/gazebo_sim/gmapping_sim.launch
index bdb3aee..a7a7317 100644
--- a/launch/gazebo_sim/gmapping_sim.launch
+++ b/launch/gazebo_sim/gmapping_sim.launch
@@ -1,9 +1,8 @@
 <launch>
   <node name="gmapping" pkg="gmapping" type="slam_gmapping">
     <param name="base_frame" value="qt_pi/base_link" type="string"/>
-    <param name="odom" value="qt_pi/odom" type="string"/>
+    <param name="odom_frame" value="qt_pi/odom" type="string"/>
     <param name="maxUrange" value="90"/>
     <param name="maxRange" value="100"/>
-    <param name="minimumScore" value="50"/>
   </node>
 </launch>
\ No newline at end of file